Fix deprecated subscriber callback warnings (#483)

* Fixing deprecated subscriber callback warnings Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org> * Fix deprecated sub callbacks in `test_rclcpp` Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org> * Fix deprecated sub callbacks in `test_security` Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org> * Fix line formatting in `test_publisher_subscriber` Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org> Co-authored-by: William Woodall <william@osrfoundation.org> * Fix line formatting in some unit tests Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org> * Address `ament_uncrustify` warnings Signed-off-by: aprotyas <aprotyas@u.rochester.edu> Co-authored-by: William Woodall <william@osrfoundation.org>
ros2 · Aug 26, 2021 · fab8e95 · fab8e95
1 parent 8b43c19
commit fab8e95
Show file tree

Hide file tree

Showing 11 changed files with 19 additions and 12 deletions.
diff --git a/test_communication/test/test_publisher_subscriber.cpp b/test_communication/test/test_publisher_subscriber.cpp
@@ -62,7 +62,9 @@ rclcpp::SubscriptionBase::SharedPtr subscribe(
  received_messages.assign(expected_messages.size(), false);
 
  auto callback =
- [&expected_messages, &received_messages](const typename T::SharedPtr received_message) -> void
+ [&expected_messages, &received_messages](
+ const typename T::ConstSharedPtr received_message
+ ) -> void
  {
  // find received message in vector of expected messages
  auto received = received_messages.begin();

diff --git a/test_communication/test/test_subscriber.cpp b/test_communication/test/test_subscriber.cpp
@@ -32,7 +32,9 @@ rclcpp::SubscriptionBase::SharedPtr subscribe(
  received_messages.assign(expected_messages.size(), false);
 
  auto callback =
- [&expected_messages, &received_messages](const typename T::SharedPtr received_message) -> void
+ [&expected_messages, &received_messages](
+ const typename T::ConstSharedPtr received_message
+ ) -> void
  {
  // find received message in vector of expected messages
  auto received = received_messages.begin();

diff --git a/test_communication/test/test_subscription_valid_data.cpp b/test_communication/test/test_subscription_valid_data.cpp
@@ -29,7 +29,7 @@ int main(int argc, char ** argv)
  auto node = rclcpp::Node::make_shared("test_subscription_valid_data");
 
  auto callback =
- [](const test_communication::msg::UInt32::SharedPtr received_message) -> void
+ [](const test_communication::msg::UInt32::ConstSharedPtr received_message) -> void
  {
  printf("received message #%u\n", received_message->data);
  if (received_message->data == 0) {

diff --git a/test_quality_of_service/include/test_quality_of_service/qos_test_subscriber.hpp b/test_quality_of_service/include/test_quality_of_service/qos_test_subscriber.hpp
@@ -41,7 +41,7 @@ class QosTestSubscriber : public QosTestNode
  void teardown() override;
 
 private:
- void listen_to_message(std_msgs::msg::String::SharedPtr);
+ void listen_to_message(std_msgs::msg::String::ConstSharedPtr);
  void setup_start() override;
  void setup_stop() override;
 

diff --git a/test_quality_of_service/test/qos_test_subscriber.cpp b/test_quality_of_service/test/qos_test_subscriber.cpp
@@ -34,7 +34,8 @@ QosTestSubscriber::QosTestSubscriber(
  RCLCPP_INFO(this->get_logger(), "created subscriber %s %s", name.c_str(), topic.c_str());
 }
 
-void QosTestSubscriber::listen_to_message(const std_msgs::msg::String::SharedPtr received_message)
+void QosTestSubscriber::listen_to_message(
+ const std_msgs::msg::String::ConstSharedPtr received_message)
 {
  RCLCPP_INFO(
  this->get_logger(), "%s: subscriber heard [%s]", this->name_.c_str(),

diff --git a/test_rclcpp/test/test_intra_process.cpp b/test_rclcpp/test/test_intra_process.cpp
@@ -58,7 +58,7 @@ TEST_F(CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION), nomina
  int counter = 0;
  auto callback =
  [&counter](
- const test_rclcpp::msg::UInt32::SharedPtr msg,
+ const test_rclcpp::msg::UInt32::ConstSharedPtr msg,
  const rclcpp::MessageInfo & message_info
  ) -> void
  {

diff --git a/test_rclcpp/test/test_multithreaded.cpp b/test_rclcpp/test/test_multithreaded.cpp
@@ -294,7 +294,7 @@ static inline void multi_access_publisher(bool intra_process)
  // callback groups?
 
  std::atomic_uint subscription_counter(0);
- auto sub_callback = [&subscription_counter](const test_rclcpp::msg::UInt32::SharedPtr msg)
+ auto sub_callback = [&subscription_counter](const test_rclcpp::msg::UInt32::ConstSharedPtr msg)
  {
  ++subscription_counter;
  printf("Subscription callback %u\n", subscription_counter.load());

diff --git a/test_rclcpp/test/test_repeated_publisher_subscriber.cpp b/test_rclcpp/test/test_repeated_publisher_subscriber.cpp
@@ -51,7 +51,7 @@ TEST_F(
  auto node = rclcpp::Node::make_shared("test_repeated_publisher_subscriber");
 
  auto callback =
- [](const test_rclcpp::msg::UInt32::SharedPtr) -> void
+ [](const test_rclcpp::msg::UInt32::ConstSharedPtr) -> void
  {
  };
 

diff --git a/test_rclcpp/test/test_subscription.cpp b/test_rclcpp/test/test_subscription.cpp
@@ -81,7 +81,7 @@ TEST_F(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_and_spinni
  std::shared_future<void> sub_called_future(sub_called.get_future());
  auto fail_after_timeout = 5s;
  auto callback =
- [&counter, &sub_called](const test_rclcpp::msg::UInt32::SharedPtr msg) -> void
+ [&counter, &sub_called](const test_rclcpp::msg::UInt32::ConstSharedPtr msg) -> void
  {
  ++counter;
  printf(" callback() %d with message data %u\n", counter, msg->data);

diff --git a/test_rclcpp/test/test_timeout_subscriber.cpp b/test_rclcpp/test/test_timeout_subscriber.cpp
@@ -28,7 +28,7 @@
 # define CLASSNAME(NAME, SUFFIX) NAME
 #endif
 
-void callback(const test_rclcpp::msg::UInt32::SharedPtr /*msg*/)
+void callback(const test_rclcpp::msg::UInt32::ConstSharedPtr /*msg*/)
 {
  throw std::runtime_error("The subscriber received a message but there should be no publisher!");
 }

diff --git a/test_security/test/test_secure_subscriber.cpp b/test_security/test/test_secure_subscriber.cpp
@@ -34,7 +34,9 @@ rclcpp::SubscriptionBase::SharedPtr attempt_subscribe(
  received_messages.assign(expected_messages.size(), false);
 
  auto callback =
- [&expected_messages, &received_messages](const typename T::SharedPtr received_message) -> void
+ [&expected_messages, &received_messages](
+ const typename T::ConstSharedPtr received_message
+ ) -> void
  {
  // find received message in vector of expected messages
  auto received = received_messages.begin();
@@ -77,7 +79,7 @@ rclcpp::SubscriptionBase::SharedPtr attempt_subscribe(
  rclcpp::executors::SingleThreadedExecutor & exec)
 {
  auto subscription_callback =
- [&sub_callback_called, &exec](const typename T::SharedPtr) -> void
+ [&sub_callback_called, &exec](const typename T::ConstSharedPtr) -> void
  {
  printf("***SUB_CALLBACK***\n");
  sub_callback_called = true;